EP3530413A1 - Actuator, robot arm and robot - Google Patents
Actuator, robot arm and robot Download PDFInfo
- Publication number
- EP3530413A1 EP3530413A1 EP19159595.8A EP19159595A EP3530413A1 EP 3530413 A1 EP3530413 A1 EP 3530413A1 EP 19159595 A EP19159595 A EP 19159595A EP 3530413 A1 EP3530413 A1 EP 3530413A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- gear
- primary
- disposed
- motor
- reducer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
- B25J19/0041—Means for supplying energy to the end effector arranged within the different robot elements having rotary connection means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0021—All motors in base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/46—Systems consisting of a plurality of gear trains each with orbital gears, i.e. systems having three or more central gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/02—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts
- F16H7/023—Gearings for conveying rotary motion by endless flexible members with belts; with V-belts with belts having a toothed contact surface or regularly spaced bosses or hollows for slipless or nearly slipless meshing with complementary profiled contact surface of a pulley
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/01—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for shielding from electromagnetic fields, i.e. structural association with shields
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02034—Gearboxes combined or connected with electric machines
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
- F16H37/04—Combinations of toothed gearings only
- F16H37/041—Combinations of toothed gearings only for conveying rotary motion with constant gear ratio
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/02—Windings characterised by the conductor material
Definitions
- the present disclosure relates to the technical field of robots, and in particular, relate to an actuator, a robot arm and a robot.
- Robots are mechanical devices that carry out complicated operations such as capture, transportation and the like actions by simulating human beings, dogs and other living organisms. Since the robot may not be subject to muscle fatigues like the human beings and other living organisms, the robot may be devoted to long-term and high-strength work, and is very suitable for industrial production.
- the work stations In the industrial production, the work stations generally have a very large space. Therefore, the volume of the robot is not strictly limited, and functionality of the robot is emphasized. However, in the commercial application fields, for example, restaurant services, hospital services and the like, the commercial space is very precious and limited. Large-sized robots may occupy more space.
- robot arms are important parts for movement of the robot.
- the actuator In the robot arm, the actuator is the key part.
- the actuator includes a motor, a motor driver, a reducer and the like.
- the motor, the motor driver and the reducer are generally separately designed, and the motor is generally a motor with an inner motor rotor. Therefore, the actuator has a very great length in an axial direction.
- the motor has a great axial length, and thus miniaturization of the entire robot is affected. Accordingly, such actuators are not suitable for the commercial application. Therefore, it is necessary to make some improvements to the actuator, such that the actuator is suitable for the commercial application.
- embodiments of the present disclosure are mainly intended to provide an actuator, a robot arm and a robot. Integral design of the actuator is practiced, and the actuator has an smaller length in an axial direction and an smaller volume, and is flat.
- the actuator includes: a housing; a motor, comprising a motor stator and a motor rotor, wherein the motor stator is disposed on the housing, the motor rotor is rotatably connected to the housing, and the motor rotor covers the motor stator; a position encoder, disposed on the motor rotor; a motor driver, disposed on the housing, and electrically connected to the motor; a reducer, disposed on the housing, and parallelly disposed with the motor; and a transmission mechanism, connected to the motor rotor and the reducer respectively; wherein the reducer is configured to adjust a rotation speed output from the motor rotor.
- the transmission mechanism comprises a first synchronization wheel, a second synchronization wheel and a synchronization belt; wherein the first synchronization wheel is connected to the motor rotor, the second synchronization wheel is connected to the reducer, and the synchronization belt is sleeved between the first synchronization wheel and the second synchronization wheel.
- the housing comprises a shell, a rear cover and a top cover; wherein the shell defines a motor slot and an adjustment groove, the motor slot comprising a rotation groove and a drive groove; wherein the motor stator and the motor rotor are both disposed in the rotation groove, the motor driver is disposed in the drive groove, and the rear cover is disposed at the mouth of the drive groove and configured to close the drive groove; and wherein the top cover is disposed to cover the rotation groove and the adjustment groove, and wherein the top cover further defines a transmission groove, the transmission groove being configured to receive the transmission mechanism.
- a sleeve portion is extended from the bottom of the rotation groove towards the interior of the rotation groove on the housing, the motor stator is sleeved onto the sleeve portion, and wherein the motor rotor is rotatably connected to the sleeve portion and covers the motor stator.
- the motor stator comprises a skeleton and a winding, wherein the skeleton defines a pocket surrounded by a plurality of slots, the winding is wound on the plurality of slots, and the sleeve portion is inserted into the pocket.
- the winding is a high temperature resistant coil made of enameled wire material.
- the reducer comprises a primary inner ring gear, a primary sun gear, a primary planetary gear and a primary output rotary disc; wherein the primary planetary gear is disposed on a surface of the primary output rotary disc and is rotatable relative to the primary output rotary disc, wherein the primary sun gear and the primary planetary gear are disposed to surround the primary inner ring gear, the primary planetary gear is in mesh with the primary sun gear and the primary inner ring gear respectively, and a primary drive shaft is extended on the primary sun gear, wherein the primary drive shaft is connected to the transmission mechanism.
- the reducer further comprises a first hollow annular member and a second hollow annular member; wherein the first hollow annular member is disposed on the primary inner ring gear, the second hollow annular member is disposed on the first hollow annular member, and the first hollow annular member and the second hollow annular member both surround the primary output rotary disc.
- the reducer further comprises a plurality of first balls; wherein a first annular groove is defined on an inner wall of the second hollow annular member, a second annular groove is defined on an outer wall of the primary output rotary disc; wherein the first annular groove and the second annular groove cooperate with each other to form a first annular passage, wherein the first balls are received in the first annular passage and are rotatable in the first annular passage.
- the first annular passage has a rhombic cross section, and the first balls are in contact with four points on an inner surface of the first annular passage.
- the reducer comprises a secondary inner ring gear, a secondary sun gear, a secondary planetary gear and a secondary output rotary disc; wherein the primary drive shaft of the primary sun gear is disposed on one surface of the second output rotary disc, the second planetary gear is disposed on the other surface of the secondary output rotary disc and is rotatable relative to the secondary output rotary disc, wherein the secondary sun gear and the secondary planetary gear are disposed in the secondary inner ring gear, the secondary planetary gear is in mesh with the secondary sun gear and the secondary inner ring gear respectively, and a secondary drive shaft is extended on the secondary sun gear, wherein the secondary drive shaft is connected to the transmission mechanism.
- the reducer further comprises a third hollow annular member; wherein the third hollow annular member is disposed on the secondary inner ring gear and is disposed between the secondary inner ring gear and the primary inner ring gear, and the third hollow annular member surrounds the secondary output rotary disc.
- he reducer further comprises a plurality of second balls; wherein a third annular groove is defined on an inner wall of the third hollow annular member, a fourth annular groove is defined on an outer wall of the secondary output rotary disc; wherein the third annular groove and the fourth annular groove cooperate with each other to form a second annular passage, wherein the second balls are received in the second annular passage and rotatable in the second annular passage.
- the second annular passage has a rhombic cross section, and the second balls are in contact with four points on an inner surface of the second annular passage.
- the reducer comprises a drive gear, a duplex transmission gear, a driven gear, a base and a tertiary output rotary disc; wherein a first receiving hole is defined on one surface of the base, the drive gear is received in the first receiving hole and is rotatable relative to the first receiving hole, the duplex transmission gear and the driven gear are both disposed on the other surface of the base and are rotatable relative to the base, the duplex transmission gear comprises a first transmission gear and a second transmission gear that are coaxially fixed, wherein the first transmission gear is in mesh with the drive gear, the second transmission gear is in mesh with the driven gear, the driven gear is connected to the tertiary output rotary disc and is configured to drive the tertiary output rotary disc to rotate, and the drive gear is connected to the transmission mechanism.
- a second receiving hole is defined on one surface of the tertiary output rotary disc, a plurality of slots is defined on an inner wall of the second receiving hole, and the driven gear is a duplex gear; wherein one gear of the duplex gear is in mesh with the second transmission gear, and the other gear of the duplex gear is received in the second receiving hole and is in mesh with the slots.
- the reducer is a harmonic reducer.
- embodiments of the present disclosure provide a robot arm which includes the above described actuator.
- embodiments of the present disclosure provide a robot which includes the above described robot arm.
- the actuator includes a motor, a position encoder, a reducer, a motor driver, a housing and a transmission mechanism.
- the motor includes a motor stator and a motor rotor, wherein the motor stator is disposed on the housing, and the motor rotor is rotatably connected to the housing and covers the motor stator. In this way, the motor rotor is disposed outside, which is favorable to reduction of the length of the motor in an axial direction and practice of a flat design of the motor.
- the motor driver is disposed on the housing, and is electrically connected to the motor.
- the position encoder is disposed on the motor rotor.
- the reducer and the motor are parallelly disposed, and transmission therebetween is practiced via the transmission mechanism. In this way, the height of the actuator is further reduced, such that the actuator is flatter. Therefore, integral design of the actuator is practiced, and the actuator has a compact structure, a small volume, a great torque density, a great output torque, and a moderate speed. In addition, the actuator is simply installed and easily controlled, has a high control precision, and may intelligently sense a load under cooperation of the encoder and force sensing and relieve collisions.
- an actuator 20 includes a motor 21, a position encoder 22, a reducer 23, a motor driver 24, a housing 25 and a transmission mechanism 26; wherein the motor driver 24 is connected to the motor 21 and is configured to drive the motor 21 to rotate, the position encoder 22 is disposed on the motor 21 and is configured to detect a position of a motor rotor 213 of the motor 21, the reducer 23 and the motor 21 are parallelly disposed on the housing 25, transmission is practiced between the reducer 23 and the motor 21 via the transmission mechanism ; and the reducer 23 is configured to adjust a rotation speed output from the motor rotor 213, that is, to reduce a rotation speed of power output by the motor rotor 213 and then output the power. Since the motor 21 and the reducer 23 are parallelly disposed instead of being coaxially disposed, the height of the actuator 20 is greatly reduced, such that the actuator 20 is flatter.
- the motor driver 24 includes an external interface 241, an external interface board 242 and a drive board 243, wherein the drive board 243 overlaps the external interface board 242 and is electrically connected to the external interface 241, and the drive board 243 is connected to the motor stator and the position encoder 22.
- the drive board 243 is a PCB board connected to and driving the position encoder 22 and the motor 21.
- the external interface 241 is configured to receive power and a control signal that are input externally, and transmit the power to the motor 21 based on the control signal to drive the motor 21 to rotate. In some embodiments, two external interfaces 241 may be provided.
- One external interface is configured to receive the power and the control signal, and the other external interface is configured to transmit the power and the control signal outside, such that when a plurality of actuators 20 are provided, the plurality of actuators 20 may be directly connected in series.
- joints of the arms and feet are constituted by actuators 20, and the joints of the same arm or foot are disposed in series. Therefore, by directly connecting the actuators 20 of the same arm or foot in series, wiring troubles caused by parallel connection of the actuators 20 may be greatly reduced.
- the plurality of actuators 20 may share one bus bar, such that energy generated by one actuator 20 may be recycled to the other actuators 20 for utilization.
- the number of external interfaces 241 may be defined as, for example, 3, 4, 5 or the like.
- the external interface board 242 supports the series connection protocols, for example, the Controller Area Network (CAN) protocol.
- the external interface board 242 and the drive board 243 may be integrated on one circuit board, wherein the external interface board 242 are disposed on one surface of the circuit board, and the drive board 234 are disposed on the other surface of the circuit board.
- the housing 25 includes a shell 251, a rear cover 252 and a top cover 253, wherein the shell 251 defines a motor slot 251g and an adjustment groove 2511.
- the motor slot 251g and the adjustment groove 2511 are parallelly defined, and the motor slot 251g and the adjustment groove 2511 both pass through the shell 251.
- the motor slot 251g includes a rotation groove 2512 and a drive groove 2513, a sleeve portion 2514 is extended from the bottom of the rotation groove 2512 to the interior of the rotation groove 2512 on the shell 251, and a shaft groove 2515 is defined at an end portion of the sleeve portion 2514 away from the bottom of the rotation groove 2512.
- the rotation groove 2512 and the drive groove 2513 are respectively defined at two opposing end portions of the shell 511, and the mouths of the rotation groove 2512 and the drive groove 2513 are opposing to each other.
- the rotation groove 2512 is defined on the front end of the shell 251, and the drive groove 2513 is defined at the rear end of the shell 251; or the rotation groove 2512 is defined at the left end of the shell 251, and the drive groove 2513 is defined at the right end of the shell 251 or the like.
- the rotation groove 2512 and the drive groove 2513 may also be defined in any other fashion in terms of position.
- the rotation groove 2512 is defined at the front end of the shell 251
- the drive groove 2513 is defined at a side wall of the shell 251
- the mouths of the rotation groove 2512 and the drive groove 2513 are perpendicular to each other.
- the drive groove 2513 is configured to receive the motor driver 24;
- the rear cover 252 is disposed to cover the drive groove 2513, and is configured to close the drive groove 2513, such that the motor driver 24 is closed within the housing 25.
- a drive gap 2516 may also be defined on a side wall of the drive groove 2513.
- the top cover 253 defines a transmission groove 2531.
- the top cover 253 closes the mouth of the rotation groove 2512 and the port at one end of the adjustment groove 2511.
- the external interface board 241 may also be disposed on the rear cover 252, such that the external interface board 241 is integral with the rear cover 252.
- the motor 21 includes a motor rotor 211, a motor stator 212 and a bearing (not illustrated in the drawings).
- the motor stator 212 is disposed in the rotation groove 2512, and the motor stator 212 includes a skeleton 2121 and a winding 2122.
- the skeleton 2121 defines a pocket 2121a surrounded by a plurality of slots 2121b, wherein the winding 2122 is wound on the plurality of slots 2121b, and the skeleton 2121 is sleeved and disposed on the sleeve portion 2514 via the pocket.
- the skeleton 2121 and the housing 25 may be both made from thermally conductive materials, such that heat generated when the winding 2122 operates is transferred to the shell 251 via the skeleton 2121, and is then transferred to the rear cover 252 and the top cover 253 via the shell 251. In this way, the heat is dissipated by the shell 251, the rear cover 252 and the top cooperatively, thereby improving the heat dissipation efficiency of the actuator 20.
- the winding 2122 is a high temperature resistant coil made of enameled wire material
- the skeleton 2121 is made from silicon steel sheets.
- the actuator 20 may further include a thermal conducting adhesive (not illustrating in the drawings).
- the thermally conductive adhesive is disposed between the skeleton 2121 and the sleeve portion 2514, and heat is transferred between the skeleton 2121 and the sleeve portion 2514 via the thermally conductive adhesive. Nevertheless, via the thermally conductive adhesive, heat transfer may also be carried out at other parts of the skeleton 2121 that are in contact with the shell 251, such that the efficiency of heat transfer is improved.
- the motor rotor 211 includes a motor rotor shell (not illustrated in the drawings), a rotary shaft (not illustrated in the drawings) and a magnetic element (not illustrated in the drawings).
- the motor rotor shell defines an open groove (not illustrated in the drawings), the magnetic element is disposed on a side wall of the open groove, and the rotary shaft is disposed on the bottom of the open groove.
- the rotary shaft is disposed on the center at the bottom of the open groove.
- the bearing is disposed in the shaft groove 2515, and the rotary shaft is sleeved into the bearing. In this way, the motor rotor 211 and the shell 251 are rotatably connected, and the motor 21 is received in the rotation groove 2512.
- the motor stator 212 When the motor rotor 211 is connected to the shell 251, the motor stator 212 is received in an open groove, and a magnetic element surrounds the motor stator 212, such that the motor stator 212 is disposed in a magnetic field of the magnetic element, and thus the motor 21 becomes a flat brushless motor with an external motor rotor.
- the motor 21 is designed to be flat, which greatly reduces an axial height of the motor 21.
- the motor rotor 211 is disposed outside and a greater magnetic torque radius is achieved, and thus a high torque density is obtained.
- flat design of the motor 21 is suitable for a hollow shaft, and for a greater outer diameter, a larger codewheel. In this way, the position encoder 22 has a higher resolution, and the motor 21 has a stronger overload capability.
- the position encoder 22 may be disposed on the rotary shaft.
- the front shell 251, the rear cover 252 and the top cover 253 may be both made from thermally conductive metal materials, for example, copper, iron, aluminum and the like; the motor rotor shell may be made from metal materials which have an electromagnetic shielding function.
- electromagnetic shielding may be conveniently carried out for the motor driver 24, the position encoder 22, the motor stator 212 and the motor rotor 211, such that external electromagnetic interference is not introduced and internal electromagnetic interference is not discharged.
- the actuator 20 has a strong anti-interference capability, and causes no interference to external electronic devices.
- the fashion in which the motor rotor 211 and the shell 251 are rotatably connected is not limited to the above described structure. Instead, the connection may be practiced by other structures, which are not described exhaustive hereinafter any further.
- the housing 25 and the motor 21 are considered as two independent parts. However, in some other embodiments, the housing 25 is described as a member or part of the motor 21.
- the transmission mechanism 26 is received in the transmission groove 2531 of the rear cover 252; when the top cover 253 closes the mouth of the rotation groove 2512 and the port at one end of the adjustment groove 2511, the transmission mechanism 26 is enclosed in the housing 25, such that the transmission mechanism 26 is protected, and is prevented from being directly exposed.
- the transmission mechanism 26 includes a first synchronization wheel 261, a second synchronization wheel 262 and a synchronization belt 263.
- the first synchronization wheel 261 is connected to the motor rotor 211
- the second synchronization wheel 263 is connected to the reducer 23, and the synchronization belt 262 is sleeved between the first synchronization wheel 261 and the second synchronization wheel 263.
- the motor rotor 211 rotates
- the motor rotor 211 drives the first synchronization wheel 261 to rotate
- the first synchronization wheel 261 drives the synchronization belt 262 to rotate
- the synchronization belt 262 drives the second synchronization wheel 263 to rotate
- the second synchronization wheel 263 input power to the reducer 23.
- the reducer 23 receives the power output by the motor 21 via the transmission mechanism 26.
- the transmission mechanism 26 is not limited to the above described structure, and may also be other structures.
- gear transmission is practiced in a fashion that a plurality of gears are in mesh with each other.
- the reducer 23 is received in the adjustment groove 2511, and the reducer 23 and the motor 21 are parallelly disposed.
- the reducer 23 may be a planetary reducer.
- the planetary reducer includes a primary inner ring gear 231, a primary sun gear 232, a primary planetary gear 233 and a primary output rotary disc 234.
- a primary rotary post (not illustrated in the drawings) is disposed on a surface of the primary output rotary disc 234.
- the primary planetary gear 233 is sleeved to the primary rotary post via another bearing, such that the primary planetary gear 233 is disposed on a surface of the primary output rotary disc 234, and is rotatable relative to the primary output rotary disc 234.
- the primary inner ring gear 231 may be formed by an annular member (not illustrated in the drawings) and a ring gear (not illustrated in the drawings) disposed on an inner side wall of the annular member, the primary sun gear 232 and the primary planetary gear 233 are disposed to surround the primary inner ring gear 231, the primary planetary gear 233 is in mesh with the primary sun gear 232 and the primary inner ring gear 233 respectively, and a primary drive shaft (232a) is extended on the primary sun gear 232, wherein the primary drive shaft is connected to the transmission mechanism 26.
- the transmission mechanism 26 drives the primary sun gear 232 to rotate, the primary sun gear 232 drives the primary planetary gear 233 to rotate, between the primary sun gear 232 and the primary inner ring gear 231.
- the primary planetary gear 233 rotates around the primary sun gear 232. Such that the primary planetary gear 233 drives the primary output rotary disc 234 to rotate.
- the primary output rotary disc 234 is connected to a mechanical member desiring power, and outputs power to the mechanical member.
- the primary output rotary disc acts as a joint of a robot arm to enable the robot arm to rotate.
- three primary planetary gears 233 may be provided, and the three primary planetary gears 233 are uniformly spaced apart and are respectively in mesh with the primary sun gear 232 and the primary inner ring gear 231. Nevertheless, in other embodiments, the number of primary planetary gears 233 may be defined as, for example, four, five, six or the like.
- the primary output rotary disc 234 may also be provided with a flange structure.
- the primary output rotary disc 234 may be referred to as a planetary reducer flange.
- the actuator 20 integrates together the motor 21, the motor driver 24 and the reducer 23.
- the actuator 20 is equivalent to an integral collimated drive force sensing flexible rotary drive actuator 20 formed by a full direct drive flexible rotator plus a low reduction ratio reducer.
- the low reduction ratio reducer has three primary planetary gears 233 which rotate around one primary sun gear 232.
- Low cost flexible control refers to improving "transparency" between the terminals of the actuator 20 and the actuator 20 by reducing dynamic impacts caused by mass and friction.
- the transparency allows a force applied by the motor 21 to match a force at the terminal of the actuator 20, such that a non-collocated sensor is not needed.
- the actuator 20 may determine an output force of a limb based on an applied torque and a joint spatial displacement measured by a motor encoder, to replace a force sensor at the terminal of the limb. This method greatly relieves instabilities caused by unmodeled mode between an actuator and an unmated sensor.
- the reducer 23 may further include a first hollow annular member 235 and a second hollow annular member 236.
- the first hollow annular member 235 is disposed on the primary inner ring gear 231
- the second hollow annular member 236 is disposed on the first hollow annular member 235
- the first hollow annular member 235 and the second hollow annular member 236 both surround the primary output rotary disc 234.
- a surface of the second hollow annular member 236 that is distal from the first hollow annular member 235 is flush with a surface of the primary output rotary disc 234. Nevertheless, a gap is defined both between the first hollow annular member 235 and the primary output rotary disc 234 and between the second hollow annular member 236 and the primary output rotary disc 234, such that rotation of the primary output rotary disc 234 is not affected.
- the reducer 23 may further include a plurality of first balls 237, a first annular groove 236a is defined on an inner wall of the second hollow annular member 236, and a second annular groove 234a is defined on an outer wall of the primary output rotary disc 234.
- the first annular groove 236a and the second annular groove 234a cooperate with each other to form a first annular passage.
- the first balls 237 are received in the first annular passage and is rotatable relative in the first annular passage.
- the first balls 237 are directly disposed between the second hollow annular member 236 and the primary output rotary disc 234, such that the second hollow annular member 236 restricts the position of the primary output rotary disc 234, with no need to add a bearing on the reducer 23. In this way, the position of the primary output rotary disc 234 is restricted only by improving the original structure of the reducer 23 and adding the first balls 237. This greatly reduces the axial length of the reducer 23 and is favorable to flat design of the reducer 23.
- the first balls 237 have a spherical shape to reduce the friction between the primary output rotary disc 234 and the second hollow annular member 236, which facilitates rotation of the primary output rotary disc 234 relative to the second hollow annular member 236.
- the reducer 23 may also be a coaxial double-planet reducer. As illustrated in FIG. 11 , in addition to the primary planetary structure described above, the reducer 23 may further include a secondary planetary structure. Specifically, the secondary planetary structure further includes a secondary inner ring gear 238, a secondary sun gear 239, a secondary planetary gear 240 and a second output rotary disc 901.
- the primary drive shaft of the primary sun gear 232 is disposed on one surface of the second output rotary disc 901
- the second planetary gear 240 is disposed on the other surface of the secondary output rotary disc 901 and is rotatable relative to the secondary output rotary disc 901
- the secondary sun gear 239 and the secondary planetary gear 240 are disposed in the secondary inner ring gear 240
- the secondary planetary gear 240 is in mesh with the secondary sun gear 239 and the secondary inner ring gear 238 respectively
- a secondary drive shaft is extended on the secondary sun gear 239, wherein the secondary drive shaft is connected to the transmission mechanism 26.
- the motor rotor 211 drives the secondary drive shaft to rotate, the secondary sun gear 239 drives the secondary planetary gear 240 to rotate, between the secondary sun gear 239 and the secondary inner ring gear 238.
- the secondary planetary gear 240 rotates around the secondary sun gear 239, the secondary planetary gear 240 drives the secondary output rotary disc 901 to rotate, the secondary output rotary disc 901 drives the primary drive shaft to rotate, the primary drive shaft drives the primary sun gear 232 to rotate, the primary sun gear 232 drives the primary planetary gear 233 to rotate, between the primary sun gear 232 and the primary inner ring gear 231, around the primary sun gear, and the primary planetary gear 233 drives the primary output rotary disc 234 to rotate.
- three secondary planetary gears 240 may be provided, and the three secondary planetary gears 240 are evenly spaced apart and are respectively in mesh with the secondary sun gear 239 and the secondary inner ring gear 238. Nevertheless, in other embodiments, the number of secondary planetary gears 240 may be defined as, for example, four, five, six or the like.
- the primary drive shaft of the primary sun gear 232 is not directly connected to the motor rotor 211, but is indirectly connected to the transmission mechanism 26 via the secondary sun gear 239, the secondary planetary gear 240 and the secondary output rotary disc 901.
- the reducer 23 may further include a third hollow annular member 902.
- the third hollow annular member 902 is disposed on the secondary inner ring gear 238, and is disposed between the secondary inner ring gear 238 and the primary inner ring gear 231.
- the third hollow annular member 902 surrounds the secondary output rotary disc 901.
- the third hollow annular member 902 is configured to protect the secondary output rotary disc 901, improve beauty of the reducer 23, and prevent recesses in the middle of the reducer 23.
- the reducer 23 may further include a plurality of second balls 903, a third annular groove (902a) is defined on an inner wall of the third hollow annular member 902, and a fourth annular groove (901 a) is defined on an outer wall of the secondary output rotary disc 901.
- the third annular groove (902a) and the fourth annular groove cooperate with each other to form a second annular passage.
- the second balls 903 are received in the second annular passage and is rotatable in the second annular groove 234a.
- the position of the secondary output rotary disc 901 is restricted by improving the original structure of the reducer 23, with no need to add a bearing on the reducer 23.
- the second balls 903 have a spherical shape
- the second annular passage has a rhombic cross section
- the second balls 903 are in contact with four points on an inner surface of the second annular passage
- the first annular passage also has a rhombic cross section
- the first balls 237 also have a spherical shape
- the first ball 237s are also in contact with four points on an inner surface of the first annular passage.
- the reducer 23 further includes a grease isolation spacer 904.
- the grease isolation spacer 904 is disposed in a circumferential clearance defined between the secondary sun gear 239 and the secondary inner ring gear 238, and the grease spacer 43 is configured to prevent grease from entering the interior of the reducer 23.
- the reducer 23 may be a spur-gear reducer. As illustrated in FIG. 12 to FIG. 14 , the reducer 23 includes a drive gear 41, a duplex transmission gear 42, a driven gear 43, a base 44 and a tertiary output rotary disc 45. A first receiving hole 441 is defined on one surface of the base 44. The drive gear 41 is received in the first receiving hole 441 and is rotatable relative to the first receiving hole 441. The duplex transmission gear 42 and the driven gear 43 are both disposed on the other surface of the base 44, and are both rotatable relative to the base 44.
- the duplex transmission gear 42 includes a first transmission gear 421 and a second transmission gear 422 that are coaxially fixed.
- the first transmission gear 421 is in mesh with the drive gear 41
- the second transmission gear 422 is in mesh with the driven gear 43.
- the driven gear 43 is connected to the tertiary output rotary disc 45, and is configured to drive the tertiary output rotary disc 45 to rotate.
- One end of the drive gear 41 distal from the first transmission gear 421 is connected to the transmission mechanism 26.
- the transmission mechanism 26 drives the drive gear 41 to rotate.
- the drive gear 41 drives the first transmission gear 421 to rotate.
- the first transmission gear 421 drives the second transmission gear 422 to rotate.
- the second transmission gear 422 drives the driven gear 43 to rotate.
- the driven gear 43 drives the tertiary output rotary disc 45 to rotate.
- the driven gear 43 may be connected to the tertiary output rotary disc 45 via meshing connection.
- a plurality of slots 451 is defined on one surface of the tertiary output rotary disc 45.
- a second receiving hole 45a is defined on one surface of the tertiary output rotary disc 45; the plurality of slots 451 is defined on an inner wall of the second receiving hole 45a.
- the driven gear 43 is a duplex gear, wherein one gear of the duplex gear is in mesh with the secondary transmission gear 422, and the other gear of the duplex gear is received in the slots 451 and is in mesh with the slots 451, defined on the inner wall of the second receiving hole 45a, as such, the other gear of the duplex gear is received in the second receiving hole 45a.
- the tertiary output rotary disc 45 is connected to the driven gear 43.
- the driven gear 43 and the tertiary output rotary disc 45 may also be connected in other fashions.
- the driven gear 43 and the tertiary output rotary disc 45 are disposed on each other via welding, snap-fitting, screwing or the like.
- the reducer 23 is a harmonic reducer.
- reducer 23 is not limited to the above described reducers, and may also be reducers of other types, which are not exhaustively described hereinafter.
- the specific appearance and structure of the actuator 20 may be adaptively adjusted based on the specific application environment of the actuator 20. For example:
- the actuator 20 is a waist swinging actuator, and is applied to a waist joint of a robot to perform a waist swinging action.
- the reducer 23 of the actuator 20 may employ a harmonic reducer.
- a conic portion 251a and a first fixing portion 251b may be extended on the shell 251 of the actuator 20; wherein the first fixing portion 251b defines a plurality of fixing holes (not illustrated in the drawings), and the conic portion 251a and the first fixing portion 251b are both disposed on other parts of the robot.
- the actuator 20 is a head lifting actuator, and is applied to a head joint of a robot to perform a head lifting action.
- the reducer 23 of the actuator 20 may employ a planetary reducer.
- the outer profile of the actuator 20 is large at two ends but small in the middle.
- the motor driver 24 may be formed by two circuit boards, a first circuit board 24a and a second circuit board 24b; wherein the first circuit board is disposed on the shell 251, and the second circuit board is disposed on a surface of the top cover 253 distal from the shell 251.
- a second fixing portion 251c is further disposed on an outer side wall of the shell 251, wherein the second fixing portion 251c is configured to be disposed on the other part of the robot.
- the actuator 20 is a head turning actuator, and is applied to a head joint of a robot to perform a head turning action.
- the reducer 23 of the actuator 20 may employ a planetary reducer.
- the outer profile of the actuator 20 is large at two ends but small in the middle.
- the motor driver 24 may be formed by two circuit boards, a third circuit board 24c and a fourth circuit board 24d; wherein the third circuit board 24c is disposed between the shell 251 and the rear cover 252, and the fourth circuit board 24d is disposed on a surface of the rear cover 252 distal from the shell 251.
- the reducer 23 of the actuator 20 may be further provided with a third fixing portion 251d; wherein the third fixing portion 251d defines a fixing groove (not illustrated in the drawings).
- a fixing through hole (not illustrated in the drawings) is defined on a side wall of the fixing groove.
- the actuator 20 is an arm actuator, and is applied to an arm joint of a robot to perform an arm lifting and lowering action.
- the reducer 23 of the actuator 20 may be a planetary reducer.
- the actuator 20 further includes an output portion 20a; wherein the output portion 20a is connected to the reducer 23.
- An arc groove (not illustrated in the drawings) is defined on a surface of the output portion 20a distal from the reducer 23.
- a fourth fixing portion 253e is disposed on a surface of the rear cover 253 distal from the shell 251.
- the actuator 20 is an elbow actuator, and is applied to an elbow joint of a robot to perform an elbow turning action.
- the reducer 23 of the actuator 20 may be a planetary reducer.
- a fifth fixing portion 251f is disposed on an outer wall of the shell 251 of the actuator 20; wherein the fifth fixing portion 251f defines a fixing gap (not illustrated in the drawings).
- the motor driver 24 may be formed by two circuit boards, a fifth circuit board 24e and a sixth circuit board 24f; wherein the fifth circuit board 24e is disposed on the shell 251, and the sixth circuit board 24f is disposed on a surface of the top cover 253 distal from the shell 251.
- the actuator 20 includes a motor 21, a position encoder 22, a reducer 23, a motor driver 24, a housing 25 and a transmission mechanism 26.
- the motor 21 includes a motor stator 212 and a motor rotor 213, wherein the motor stator 211 is disposed on the housing 25, and the motor rotor 211 is rotatably connected to the housing 25 and covers the motor stator 212. In this way, the motor rotor 213 is disposed outside, which is favorable to reduction of the length of the motor 21 in an axial direction and practice of a flat design of the motor 21.
- the motor driver 24 is disposed on the housing 25, and is electrically connected to the motor 21.
- the position encoder 22 is disposed on the motor rotor 211.
- the reducer 23 and the motor 21 are parallelly disposed, and transmission therebetween is practiced via the transmission mechanism 26. In this way, the height of the actuator 20 is further reduced, such that the actuator 20 is flatter. Therefore, integral design of the actuator 20 is practiced, and the actuator 20 has a compact structure, a small volume, a great torque density, a great output torque, and a moderate speed. In addition, the actuator 20 is simply installed and easily controlled, has a high control precision, and may intelligently sense a load under cooperation of the encoder and force sensing and relieve collisions.
- An embodiment of the present disclosure further provides a robot arm.
- the robot arm includes the above described actuator 20.
- the specific structure and functions of the actuator 20 reference may be made to the above embodiments, which are thus not exhaustively described herein any further.
- An embodiment of the present disclosure further provides a robot.
- the robot includes the above described robot arm. With respect to the specific structure and functions of the robot arm, reference may be made to the above embodiments, which are thus not exhaustively described herein any further.
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Abstract
Description
- The present disclosure relates to the technical field of robots, and in particular, relate to an actuator, a robot arm and a robot.
- Robots are mechanical devices that carry out complicated operations such as capture, transportation and the like actions by simulating human beings, dogs and other living organisms. Since the robot may not be subject to muscle fatigues like the human beings and other living organisms, the robot may be devoted to long-term and high-strength work, and is very suitable for industrial production.
- In the industrial production, the work stations generally have a very large space. Therefore, the volume of the robot is not strictly limited, and functionality of the robot is emphasized. However, in the commercial application fields, for example, restaurant services, hospital services and the like, the commercial space is very precious and limited. Large-sized robots may occupy more space. In the robot, robot arms are important parts for movement of the robot. In the robot arm, the actuator is the key part. The actuator includes a motor, a motor driver, a reducer and the like. In an actuator for use in the industrial production, the motor, the motor driver and the reducer are generally separately designed, and the motor is generally a motor with an inner motor rotor. Therefore, the actuator has a very great length in an axial direction. As a result, the motor has a great axial length, and thus miniaturization of the entire robot is affected. Accordingly, such actuators are not suitable for the commercial application. Therefore, it is necessary to make some improvements to the actuator, such that the actuator is suitable for the commercial application.
- In view of the above defects in the related art, embodiments of the present disclosure are mainly intended to provide an actuator, a robot arm and a robot. Integral design of the actuator is practiced, and the actuator has an smaller length in an axial direction and an smaller volume, and is flat.
- To solve the above technical problem, embodiments of the present disclosure provide an actuator. The actuator includes: a housing; a motor, comprising a motor stator and a motor rotor, wherein the motor stator is disposed on the housing, the motor rotor is rotatably connected to the housing, and the motor rotor covers the motor stator; a position encoder, disposed on the motor rotor; a motor driver, disposed on the housing, and electrically connected to the motor; a reducer, disposed on the housing, and parallelly disposed with the motor; and a transmission mechanism, connected to the motor rotor and the reducer respectively; wherein the reducer is configured to adjust a rotation speed output from the motor rotor.
- Optionally, the transmission mechanism comprises a first synchronization wheel, a second synchronization wheel and a synchronization belt; wherein the first synchronization wheel is connected to the motor rotor, the second synchronization wheel is connected to the reducer, and the synchronization belt is sleeved between the first synchronization wheel and the second synchronization wheel.
- Optionally, the housing comprises a shell, a rear cover and a top cover; wherein the shell defines a motor slot and an adjustment groove, the motor slot comprising a rotation groove and a drive groove; wherein the motor stator and the motor rotor are both disposed in the rotation groove, the motor driver is disposed in the drive groove, and the rear cover is disposed at the mouth of the drive groove and configured to close the drive groove; and wherein the top cover is disposed to cover the rotation groove and the adjustment groove, and wherein the top cover further defines a transmission groove, the transmission groove being configured to receive the transmission mechanism.
- Optionally, a sleeve portion is extended from the bottom of the rotation groove towards the interior of the rotation groove on the housing, the motor stator is sleeved onto the sleeve portion, and wherein the motor rotor is rotatably connected to the sleeve portion and covers the motor stator.
- Optionally, the motor stator comprises a skeleton and a winding, wherein the skeleton defines a pocket surrounded by a plurality of slots, the winding is wound on the plurality of slots, and the sleeve portion is inserted into the pocket.
- Optionally, the winding is a high temperature resistant coil made of enameled wire material.
- Optionally, the reducer comprises a primary inner ring gear, a primary sun gear, a primary planetary gear and a primary output rotary disc; wherein the primary planetary gear is disposed on a surface of the primary output rotary disc and is rotatable relative to the primary output rotary disc, wherein the primary sun gear and the primary planetary gear are disposed to surround the primary inner ring gear, the primary planetary gear is in mesh with the primary sun gear and the primary inner ring gear respectively, and a primary drive shaft is extended on the primary sun gear, wherein the primary drive shaft is connected to the transmission mechanism.
- Optionally, the reducer further comprises a first hollow annular member and a second hollow annular member; wherein the first hollow annular member is disposed on the primary inner ring gear, the second hollow annular member is disposed on the first hollow annular member, and the first hollow annular member and the second hollow annular member both surround the primary output rotary disc.
- Optionally, the reducer further comprises a plurality of first balls; wherein a first annular groove is defined on an inner wall of the second hollow annular member, a second annular groove is defined on an outer wall of the primary output rotary disc; wherein the first annular groove and the second annular groove cooperate with each other to form a first annular passage, wherein the first balls are received in the first annular passage and are rotatable in the first annular passage.
- Optionally, the first annular passage has a rhombic cross section, and the first balls are in contact with four points on an inner surface of the first annular passage.
- Optionally, the reducer comprises a secondary inner ring gear, a secondary sun gear, a secondary planetary gear and a secondary output rotary disc; wherein the primary drive shaft of the primary sun gear is disposed on one surface of the second output rotary disc, the second planetary gear is disposed on the other surface of the secondary output rotary disc and is rotatable relative to the secondary output rotary disc, wherein the secondary sun gear and the secondary planetary gear are disposed in the secondary inner ring gear, the secondary planetary gear is in mesh with the secondary sun gear and the secondary inner ring gear respectively, and a secondary drive shaft is extended on the secondary sun gear, wherein the secondary drive shaft is connected to the transmission mechanism.
- Optionally, the reducer further comprises a third hollow annular member; wherein the third hollow annular member is disposed on the secondary inner ring gear and is disposed between the secondary inner ring gear and the primary inner ring gear, and the third hollow annular member surrounds the secondary output rotary disc.
- Optionally, he reducer further comprises a plurality of second balls; wherein a third annular groove is defined on an inner wall of the third hollow annular member, a fourth annular groove is defined on an outer wall of the secondary output rotary disc; wherein the third annular groove and the fourth annular groove cooperate with each other to form a second annular passage, wherein the second balls are received in the second annular passage and rotatable in the second annular passage.
- Optionally, the second annular passage has a rhombic cross section, and the second balls are in contact with four points on an inner surface of the second annular passage.
- Optionally, the reducer comprises a drive gear, a duplex transmission gear, a driven gear, a base and a tertiary output rotary disc; wherein a first receiving hole is defined on one surface of the base, the drive gear is received in the first receiving hole and is rotatable relative to the first receiving hole, the duplex transmission gear and the driven gear are both disposed on the other surface of the base and are rotatable relative to the base, the duplex transmission gear comprises a first transmission gear and a second transmission gear that are coaxially fixed, wherein the first transmission gear is in mesh with the drive gear, the second transmission gear is in mesh with the driven gear, the driven gear is connected to the tertiary output rotary disc and is configured to drive the tertiary output rotary disc to rotate, and the drive gear is connected to the transmission mechanism.
- Optionally, a second receiving hole is defined on one surface of the tertiary output rotary disc, a plurality of slots is defined on an inner wall of the second receiving hole, and the driven gear is a duplex gear; wherein one gear of the duplex gear is in mesh with the second transmission gear, and the other gear of the duplex gear is received in the second receiving hole and is in mesh with the slots.
- Optionally, the reducer is a harmonic reducer.
- To solve the above technical problem, embodiments of the present disclosure provide a robot arm which includes the above described actuator.
- To solve the above technical problem, embodiments of the present disclosure provide a robot which includes the above described robot arm.
- The embodiments of the present disclosure achieve the following beneficial effects:
- Different from the related art, in the embodiments of the present disclosure, the actuator includes a motor, a position encoder, a reducer, a motor driver, a housing and a transmission mechanism. The motor includes a motor stator and a motor rotor, wherein the motor stator is disposed on the housing, and the motor rotor is rotatably connected to the housing and covers the motor stator. In this way, the motor rotor is disposed outside, which is favorable to reduction of the length of the motor in an axial direction and practice of a flat design of the motor. The motor driver is disposed on the housing, and is electrically connected to the motor. The position encoder is disposed on the motor rotor. The reducer and the motor are parallelly disposed, and transmission therebetween is practiced via the transmission mechanism. In this way, the height of the actuator is further reduced, such that the actuator is flatter. Therefore, integral design of the actuator is practiced, and the actuator has a compact structure, a small volume, a great torque density, a great output torque, and a moderate speed. In addition, the actuator is simply installed and easily controlled, has a high control precision, and may intelligently sense a load under cooperation of the encoder and force sensing and relieve collisions.
- For a clearer description of the technical solutions according to the specific embodiments of the present disclosure or the technical solutions in the prior art, the accompanying drawings incorporated for illustrating the specific embodiments or the prior art are briefly described hereinafter. In all the accompanying drawings, similar elements or parts are generally denoted by similar reference numerals. In the accompanying drawings, various elements or parts are not necessarily drawn according to the actual scale.
-
FIG. 1 is a three-dimensional diagram according to an actuator embodiment of the present disclosure; -
FIG. 2 is an exploded diagram according to an actuator embodiment of the present disclosure; -
FIG. 3 is a schematic diagram of an electronic device driver according to an embodiment of the present disclosure; -
FIG. 4 is a schematic diagram taken from one view angle of a housing according to an embodiment of the present disclosure; -
FIG. 5 is a schematic diagram taken from another view angle of a housing according to an embodiment of the present disclosure; -
FIG. 6 is another exploded diagram of according to an actuator embodiment of the present disclosure; -
FIG. 7 is a schematic diagram of receiving a transmission mechanism in a top cover according to an actuator embodiment of the present disclosure; -
FIG. 8 is a schematic diagram of a transmission mechanism according to an embodiment of the present disclosure; -
FIG. 9 is one schematic diagram of a planetary reducer according to an actuator embodiment of the present disclosure; -
FIG. 10 is another schematic diagram of the planetary reducer according to an actuator embodiment of the present disclosure; -
FIG. 11 is an exploded diagram of a bipolar planetary reducer according to an actuator embodiment of the present disclosure; -
FIG. 12 is a three-dimensional diagram of a spur-gear reducer according to an actuator embodiment of the present disclosure; -
FIG. 13 is an exploded diagram of one vision of the spur-gear reducer according to an actuator embodiment of the present disclosure; -
FIG. 14 is an exploded diagram of another vision of the spur-gear reducer according to an actuator embodiment of the present disclosure; -
FIG. 15 is a schematic diagram of an actuator acting as a waist turning actuator according to an actuator embodiment of the present disclosure; -
FIG. 16 is a schematic diagram of an actuator acting as a head lifting actuator according to an actuator embodiment of the present disclosure; -
FIG. 17 is one schematic diagram of an actuator acting as a head turning actuator according to an actuator embodiment of the present disclosure; -
FIG. 18 is another schematic diagram of the actuator acting as the head turning actuator according to an actuator embodiment of the present disclosure; -
FIG. 19 is one schematic diagram of an actuator acting as an arm actuator according to an actuator embodiment of the present disclosure; -
FIG. 20 is another schematic diagram of the actuator acting as the arm actuator according to an actuator embodiment of the present disclosure; and -
FIG. 21 is a schematic diagram of an actuator acting as an elbow actuator according to an actuator embodiment of the present disclosure. - The embodiments containing the technical solutions of the present disclosure are described in detail with reference to the accompanying drawings. The embodiments hereinafter are only used to clearly describe the technical solutions of the present disclosure. Therefore, these embodiments are only used as examples, but are not intended to limit the protection scope of the present disclosure.
- It should be noted that unless otherwise specified, the technical terms and scientific terms used in the present disclosure shall express general meanings that may be understood by a person skilled in the art.
- Referring to
FIG. 1 and FIG. 2 , an actuator 20 includes amotor 21, aposition encoder 22, areducer 23, amotor driver 24, ahousing 25 and atransmission mechanism 26; wherein themotor driver 24 is connected to themotor 21 and is configured to drive themotor 21 to rotate, theposition encoder 22 is disposed on themotor 21 and is configured to detect a position of a motor rotor 213 of themotor 21, thereducer 23 and themotor 21 are parallelly disposed on thehousing 25, transmission is practiced between thereducer 23 and themotor 21 via the transmission mechanism ; and thereducer 23 is configured to adjust a rotation speed output from the motor rotor 213, that is, to reduce a rotation speed of power output by the motor rotor 213 and then output the power. Since themotor 21 and thereducer 23 are parallelly disposed instead of being coaxially disposed, the height of the actuator 20 is greatly reduced, such that the actuator 20 is flatter. - With respect to the
motor driver 24, as illustrated inFIG. 3 , themotor driver 24 includes anexternal interface 241, anexternal interface board 242 and adrive board 243, wherein thedrive board 243 overlaps theexternal interface board 242 and is electrically connected to theexternal interface 241, and thedrive board 243 is connected to the motor stator and theposition encoder 22. To be brief, thedrive board 243 is a PCB board connected to and driving theposition encoder 22 and themotor 21. Theexternal interface 241 is configured to receive power and a control signal that are input externally, and transmit the power to themotor 21 based on the control signal to drive themotor 21 to rotate. In some embodiments, twoexternal interfaces 241 may be provided. One external interface is configured to receive the power and the control signal, and the other external interface is configured to transmit the power and the control signal outside, such that when a plurality of actuators 20 are provided, the plurality of actuators 20 may be directly connected in series. Especially, in the arms and feet of the robot, joints of the arms and feet are constituted by actuators 20, and the joints of the same arm or foot are disposed in series. Therefore, by directly connecting the actuators 20 of the same arm or foot in series, wiring troubles caused by parallel connection of the actuators 20 may be greatly reduced. By connecting the plurality of actuators 20 in series, the plurality of actuators 20 may share one bus bar, such that energy generated by one actuator 20 may be recycled to the other actuators 20 for utilization. - It may be understood that in some other embodiments, the number of
external interfaces 241 may be defined as, for example, 3, 4, 5 or the like. For connection in series of the actuators 20, theexternal interface board 242 supports the series connection protocols, for example, the Controller Area Network (CAN) protocol. In addition, theexternal interface board 242 and thedrive board 243 may be integrated on one circuit board, wherein theexternal interface board 242 are disposed on one surface of the circuit board, and thedrive board 234 are disposed on the other surface of the circuit board. - With respect to the
housing 25, as illustrated inFIG. 4 andFIG. 5 , thehousing 25 includes ashell 251, arear cover 252 and atop cover 253, wherein theshell 251 defines amotor slot 251g and anadjustment groove 2511. Themotor slot 251g and theadjustment groove 2511 are parallelly defined, and themotor slot 251g and theadjustment groove 2511 both pass through theshell 251. Themotor slot 251g includes arotation groove 2512 and adrive groove 2513, asleeve portion 2514 is extended from the bottom of therotation groove 2512 to the interior of therotation groove 2512 on theshell 251, and ashaft groove 2515 is defined at an end portion of thesleeve portion 2514 away from the bottom of therotation groove 2512. In some embodiments, therotation groove 2512 and thedrive groove 2513 are respectively defined at two opposing end portions of the shell 511, and the mouths of therotation groove 2512 and thedrive groove 2513 are opposing to each other. For example, therotation groove 2512 is defined on the front end of theshell 251, and thedrive groove 2513 is defined at the rear end of theshell 251; or therotation groove 2512 is defined at the left end of theshell 251, and thedrive groove 2513 is defined at the right end of theshell 251 or the like. Nevertheless, in some other embodiments, therotation groove 2512 and thedrive groove 2513 may also be defined in any other fashion in terms of position. For example, therotation groove 2512 is defined at the front end of theshell 251, thedrive groove 2513 is defined at a side wall of theshell 251, and the mouths of therotation groove 2512 and thedrive groove 2513 are perpendicular to each other. Thedrive groove 2513 is configured to receive themotor driver 24; therear cover 252 is disposed to cover thedrive groove 2513, and is configured to close thedrive groove 2513, such that themotor driver 24 is closed within thehousing 25. Further, adrive gap 2516 may also be defined on a side wall of thedrive groove 2513. When themotor driver 24 is received in thedrive groove 2513, theexternal interface 241 is received in thedrive gap 2516, such that theexternal interface 241 is exposed. When therear cover 252 is disposed to cover theshell 251, theshell 251 and therear cover 252 cooperatively hold and fix theexternal interface 241. Thetop cover 253 defines atransmission groove 2531. When thetop cover 253 is disposed on theshell 25, thetop cover 253 closes the mouth of therotation groove 2512 and the port at one end of theadjustment groove 2511. - It should be understood that in some other embodiments, the
external interface board 241 may also be disposed on therear cover 252, such that theexternal interface board 241 is integral with therear cover 252. - With respect to the
motor 21, as illustrated inFIG. 6 , themotor 21 includes amotor rotor 211, amotor stator 212 and a bearing (not illustrated in the drawings). - With respect to the
motor stator 212, still referring toFIG. 6 , themotor stator 212 is disposed in therotation groove 2512, and themotor stator 212 includes askeleton 2121 and a winding 2122. Theskeleton 2121 defines apocket 2121a surrounded by a plurality ofslots 2121b, wherein the winding 2122 is wound on the plurality ofslots 2121b, and theskeleton 2121 is sleeved and disposed on thesleeve portion 2514 via the pocket. In some embodiments, theskeleton 2121 and thehousing 25 may be both made from thermally conductive materials, such that heat generated when the winding 2122 operates is transferred to theshell 251 via theskeleton 2121, and is then transferred to therear cover 252 and thetop cover 253 via theshell 251. In this way, the heat is dissipated by theshell 251, therear cover 252 and the top cooperatively, thereby improving the heat dissipation efficiency of the actuator 20. Optionally, the winding 2122 is a high temperature resistant coil made of enameled wire material, and theskeleton 2121 is made from silicon steel sheets. - In some embodiments, to enhance the efficiency of heat transfer between the
motor stator 212 and thesleeve portion 2514, the actuator 20 may further include a thermal conducting adhesive (not illustrating in the drawings). The thermally conductive adhesive is disposed between theskeleton 2121 and thesleeve portion 2514, and heat is transferred between theskeleton 2121 and thesleeve portion 2514 via the thermally conductive adhesive. Nevertheless, via the thermally conductive adhesive, heat transfer may also be carried out at other parts of theskeleton 2121 that are in contact with theshell 251, such that the efficiency of heat transfer is improved. - With respect to the
motor rotor 211, themotor rotor 211 includes a motor rotor shell (not illustrated in the drawings), a rotary shaft (not illustrated in the drawings) and a magnetic element (not illustrated in the drawings). The motor rotor shell defines an open groove (not illustrated in the drawings), the magnetic element is disposed on a side wall of the open groove, and the rotary shaft is disposed on the bottom of the open groove. Optionally, the rotary shaft is disposed on the center at the bottom of the open groove. The bearing is disposed in theshaft groove 2515, and the rotary shaft is sleeved into the bearing. In this way, themotor rotor 211 and theshell 251 are rotatably connected, and themotor 21 is received in therotation groove 2512. When themotor rotor 211 is connected to theshell 251, themotor stator 212 is received in an open groove, and a magnetic element surrounds themotor stator 212, such that themotor stator 212 is disposed in a magnetic field of the magnetic element, and thus themotor 21 becomes a flat brushless motor with an external motor rotor. In addition, themotor 21 is designed to be flat, which greatly reduces an axial height of themotor 21. Further, themotor rotor 211 is disposed outside and a greater magnetic torque radius is achieved, and thus a high torque density is obtained. Further, flat design of themotor 21 is suitable for a hollow shaft, and for a greater outer diameter, a larger codewheel. In this way, theposition encoder 22 has a higher resolution, and themotor 21 has a stronger overload capability. - With respect to the
position encoder 22, theposition encoder 22 may be disposed on the rotary shaft. - In some embodiments, the
front shell 251, therear cover 252 and thetop cover 253 may be both made from thermally conductive metal materials, for example, copper, iron, aluminum and the like; the motor rotor shell may be made from metal materials which have an electromagnetic shielding function. In this way, when themotor driver 24, theposition encoder 22, themotor stator 212 and themotor rotor 211 are all packaged in a space defined by therear cover 252, thefront shell 251 and the motor rotor shell, electromagnetic shielding may be conveniently carried out for themotor driver 24, theposition encoder 22, themotor stator 212 and themotor rotor 211, such that external electromagnetic interference is not introduced and internal electromagnetic interference is not discharged. In this way, the actuator 20 has a strong anti-interference capability, and causes no interference to external electronic devices. - It should be noted that the fashion in which the
motor rotor 211 and theshell 251 are rotatably connected is not limited to the above described structure. Instead, the connection may be practiced by other structures, which are not described exhaustive hereinafter any further. In addition, in the embodiment, for ease of description, thehousing 25 and themotor 21 are considered as two independent parts. However, in some other embodiments, thehousing 25 is described as a member or part of themotor 21. - With respect to the
transmission mechanism 26, as illustrated inFIG. 7 and FIG. 8 , thetransmission mechanism 26 is received in thetransmission groove 2531 of therear cover 252; when thetop cover 253 closes the mouth of therotation groove 2512 and the port at one end of theadjustment groove 2511, thetransmission mechanism 26 is enclosed in thehousing 25, such that thetransmission mechanism 26 is protected, and is prevented from being directly exposed. In some embodiments, thetransmission mechanism 26 includes afirst synchronization wheel 261, asecond synchronization wheel 262 and asynchronization belt 263. Thefirst synchronization wheel 261 is connected to themotor rotor 211, thesecond synchronization wheel 263 is connected to thereducer 23, and thesynchronization belt 262 is sleeved between thefirst synchronization wheel 261 and thesecond synchronization wheel 263. When themotor rotor 211 rotates, themotor rotor 211 drives thefirst synchronization wheel 261 to rotate, thefirst synchronization wheel 261 drives thesynchronization belt 262 to rotate, thesynchronization belt 262 drives thesecond synchronization wheel 263 to rotate, and thesecond synchronization wheel 263 input power to thereducer 23. In this way, thereducer 23 receives the power output by themotor 21 via thetransmission mechanism 26. - It may be understood that the
transmission mechanism 26 is not limited to the above described structure, and may also be other structures. For example, gear transmission is practiced in a fashion that a plurality of gears are in mesh with each other. - With respect to the
reducer 23, thereducer 23 is received in theadjustment groove 2511, and thereducer 23 and themotor 21 are parallelly disposed. - In some embodiments, the
reducer 23 may be a planetary reducer. Specifically, as illustrated inFIG. 9 , the planetary reducer includes a primaryinner ring gear 231, aprimary sun gear 232, a primaryplanetary gear 233 and a primaryoutput rotary disc 234. A primary rotary post (not illustrated in the drawings) is disposed on a surface of the primaryoutput rotary disc 234. The primaryplanetary gear 233 is sleeved to the primary rotary post via another bearing, such that the primaryplanetary gear 233 is disposed on a surface of the primaryoutput rotary disc 234, and is rotatable relative to the primaryoutput rotary disc 234. The primaryinner ring gear 231 may be formed by an annular member (not illustrated in the drawings) and a ring gear (not illustrated in the drawings) disposed on an inner side wall of the annular member, theprimary sun gear 232 and the primaryplanetary gear 233 are disposed to surround the primaryinner ring gear 231, the primaryplanetary gear 233 is in mesh with theprimary sun gear 232 and the primaryinner ring gear 233 respectively, and a primary drive shaft (232a) is extended on theprimary sun gear 232, wherein the primary drive shaft is connected to thetransmission mechanism 26. Thetransmission mechanism 26 drives theprimary sun gear 232 to rotate, theprimary sun gear 232 drives the primaryplanetary gear 233 to rotate, between theprimary sun gear 232 and the primaryinner ring gear 231. The primaryplanetary gear 233 rotates around theprimary sun gear 232. Such that the primaryplanetary gear 233 drives the primaryoutput rotary disc 234 to rotate. The primaryoutput rotary disc 234 is connected to a mechanical member desiring power, and outputs power to the mechanical member. For example, the primary output rotary disc acts as a joint of a robot arm to enable the robot arm to rotate. Optionally, three primaryplanetary gears 233 may be provided, and the three primaryplanetary gears 233 are uniformly spaced apart and are respectively in mesh with theprimary sun gear 232 and the primaryinner ring gear 231. Nevertheless, in other embodiments, the number of primaryplanetary gears 233 may be defined as, for example, four, five, six or the like. - It should be noted that the primary
output rotary disc 234 may also be provided with a flange structure. When the primaryoutput rotary disc 234 is provided with a flange structure, the primaryoutput rotary disc 234 may be referred to as a planetary reducer flange. In addition, the actuator 20 integrates together themotor 21, themotor driver 24 and thereducer 23. The actuator 20 is equivalent to an integral collimated drive force sensing flexible rotary drive actuator 20 formed by a full direct drive flexible rotator plus a low reduction ratio reducer. In practical use, in the integral collimated drive force sensing flexible rotary drive actuator 20 formed by a full direct drive flexible rotator plus a low reduction ratio reducer according to the present disclosure, the low reduction ratio reducer has three primaryplanetary gears 233 which rotate around oneprimary sun gear 232. Low cost flexible control refers to improving "transparency" between the terminals of the actuator 20 and the actuator 20 by reducing dynamic impacts caused by mass and friction. The transparency allows a force applied by themotor 21 to match a force at the terminal of the actuator 20, such that a non-collocated sensor is not needed. The actuator 20 may determine an output force of a limb based on an applied torque and a joint spatial displacement measured by a motor encoder, to replace a force sensor at the terminal of the limb. This method greatly relieves instabilities caused by unmodeled mode between an actuator and an unmated sensor. - Since the primary
output rotary disc 234 protrudes from the primaryinner ring gear 231, to improve beauty of the actuator 20 and protect the primaryoutput rotary disc 234, thereducer 23 may further include a first hollowannular member 235 and a second hollowannular member 236. The first hollowannular member 235 is disposed on the primaryinner ring gear 231, the second hollowannular member 236 is disposed on the first hollowannular member 235, and the first hollowannular member 235 and the second hollowannular member 236 both surround the primaryoutput rotary disc 234. In some embodiments, a surface of the second hollowannular member 236 that is distal from the first hollowannular member 235 is flush with a surface of the primaryoutput rotary disc 234. Nevertheless, a gap is defined both between the first hollowannular member 235 and the primaryoutput rotary disc 234 and between the second hollowannular member 236 and the primaryoutput rotary disc 234, such that rotation of the primaryoutput rotary disc 234 is not affected. - Further, for position restriction of the primary
output rotary disc 234 and for prevention of bending of the primaryoutput rotary disc 234 towards the first hollowannular member 235 and the second hollowannular member 236, as illustrated inFIG. 10 , thereducer 23 may further include a plurality offirst balls 237, a firstannular groove 236a is defined on an inner wall of the second hollowannular member 236, and a secondannular groove 234a is defined on an outer wall of the primaryoutput rotary disc 234. The firstannular groove 236a and the secondannular groove 234a cooperate with each other to form a first annular passage. Thefirst balls 237 are received in the first annular passage and is rotatable relative in the first annular passage. Thefirst balls 237 are directly disposed between the second hollowannular member 236 and the primaryoutput rotary disc 234, such that the second hollowannular member 236 restricts the position of the primaryoutput rotary disc 234, with no need to add a bearing on thereducer 23. In this way, the position of the primaryoutput rotary disc 234 is restricted only by improving the original structure of thereducer 23 and adding thefirst balls 237. This greatly reduces the axial length of thereducer 23 and is favorable to flat design of thereducer 23. Optionally, thefirst balls 237 have a spherical shape to reduce the friction between the primaryoutput rotary disc 234 and the second hollowannular member 236, which facilitates rotation of the primaryoutput rotary disc 234 relative to the second hollowannular member 236. - In some embodiments, the
reducer 23 may also be a coaxial double-planet reducer. As illustrated inFIG. 11 , in addition to the primary planetary structure described above, thereducer 23 may further include a secondary planetary structure. Specifically, the secondary planetary structure further includes a secondaryinner ring gear 238, asecondary sun gear 239, a secondaryplanetary gear 240 and a secondoutput rotary disc 901. The primary drive shaft of theprimary sun gear 232 is disposed on one surface of the secondoutput rotary disc 901, the secondplanetary gear 240 is disposed on the other surface of the secondaryoutput rotary disc 901 and is rotatable relative to the secondaryoutput rotary disc 901, thesecondary sun gear 239 and the secondaryplanetary gear 240 are disposed in the secondaryinner ring gear 240, the secondaryplanetary gear 240 is in mesh with thesecondary sun gear 239 and the secondaryinner ring gear 238 respectively, and a secondary drive shaft is extended on thesecondary sun gear 239, wherein the secondary drive shaft is connected to thetransmission mechanism 26. Themotor rotor 211 drives the secondary drive shaft to rotate, thesecondary sun gear 239 drives the secondaryplanetary gear 240 to rotate, between thesecondary sun gear 239 and the secondaryinner ring gear 238. The secondaryplanetary gear 240 rotates around thesecondary sun gear 239, the secondaryplanetary gear 240 drives the secondaryoutput rotary disc 901 to rotate, the secondaryoutput rotary disc 901 drives the primary drive shaft to rotate, the primary drive shaft drives theprimary sun gear 232 to rotate, theprimary sun gear 232 drives the primaryplanetary gear 233 to rotate, between theprimary sun gear 232 and the primaryinner ring gear 231, around the primary sun gear, and the primaryplanetary gear 233 drives the primaryoutput rotary disc 234 to rotate. Optionally, three secondaryplanetary gears 240 may be provided, and the three secondaryplanetary gears 240 are evenly spaced apart and are respectively in mesh with thesecondary sun gear 239 and the secondaryinner ring gear 238. Nevertheless, in other embodiments, the number of secondaryplanetary gears 240 may be defined as, for example, four, five, six or the like. - It should be noted that in a coaxial double-planet reducer, the primary drive shaft of the
primary sun gear 232 is not directly connected to themotor rotor 211, but is indirectly connected to thetransmission mechanism 26 via thesecondary sun gear 239, the secondaryplanetary gear 240 and the secondaryoutput rotary disc 901. - Further, the
reducer 23 may further include a third hollowannular member 902. The third hollowannular member 902 is disposed on the secondaryinner ring gear 238, and is disposed between the secondaryinner ring gear 238 and the primaryinner ring gear 231. The third hollowannular member 902 surrounds the secondaryoutput rotary disc 901. The third hollowannular member 902 is configured to protect the secondaryoutput rotary disc 901, improve beauty of thereducer 23, and prevent recesses in the middle of thereducer 23. - For position restriction to the secondary
output rotary disc 901, thereducer 23 may further include a plurality ofsecond balls 903, a third annular groove (902a) is defined on an inner wall of the third hollowannular member 902, and a fourth annular groove (901 a) is defined on an outer wall of the secondaryoutput rotary disc 901. The third annular groove (902a) and the fourth annular groove cooperate with each other to form a second annular passage. Thesecond balls 903 are received in the second annular passage and is rotatable in the secondannular groove 234a. The position of the secondaryoutput rotary disc 901 is restricted by improving the original structure of thereducer 23, with no need to add a bearing on thereducer 23. This greatly reduces the axial length of thereducer 23 and is favorable to flat design of thereducer 23. Optionally, thesecond balls 903 have a spherical shape, the second annular passage has a rhombic cross section, and thesecond balls 903 are in contact with four points on an inner surface of the second annular passage; and the first annular passage also has a rhombic cross section, thefirst balls 237 also have a spherical shape, and the first ball 237s are also in contact with four points on an inner surface of the first annular passage. - Further, the
reducer 23 further includes agrease isolation spacer 904. Thegrease isolation spacer 904 is disposed in a circumferential clearance defined between thesecondary sun gear 239 and the secondaryinner ring gear 238, and thegrease spacer 43 is configured to prevent grease from entering the interior of thereducer 23. - In some embodiments, the
reducer 23 may be a spur-gear reducer. As illustrated inFIG. 12 to FIG. 14 , thereducer 23 includes adrive gear 41, aduplex transmission gear 42, a drivengear 43, abase 44 and a tertiaryoutput rotary disc 45. Afirst receiving hole 441 is defined on one surface of thebase 44. Thedrive gear 41 is received in thefirst receiving hole 441 and is rotatable relative to thefirst receiving hole 441. Theduplex transmission gear 42 and the drivengear 43 are both disposed on the other surface of thebase 44, and are both rotatable relative to thebase 44. Theduplex transmission gear 42 includes afirst transmission gear 421 and asecond transmission gear 422 that are coaxially fixed. Thefirst transmission gear 421 is in mesh with thedrive gear 41, and thesecond transmission gear 422 is in mesh with the drivengear 43. The drivengear 43 is connected to the tertiaryoutput rotary disc 45, and is configured to drive the tertiaryoutput rotary disc 45 to rotate. One end of thedrive gear 41 distal from thefirst transmission gear 421 is connected to thetransmission mechanism 26. Thetransmission mechanism 26 drives thedrive gear 41 to rotate. Thedrive gear 41 drives thefirst transmission gear 421 to rotate. Thefirst transmission gear 421 drives thesecond transmission gear 422 to rotate. Thesecond transmission gear 422 drives the drivengear 43 to rotate. The drivengear 43 drives the tertiaryoutput rotary disc 45 to rotate. - The driven
gear 43 may be connected to the tertiaryoutput rotary disc 45 via meshing connection. For example, a plurality ofslots 451 is defined on one surface of the tertiaryoutput rotary disc 45. In some embodiments, asecond receiving hole 45a is defined on one surface of the tertiaryoutput rotary disc 45; the plurality ofslots 451 is defined on an inner wall of thesecond receiving hole 45a. The drivengear 43 is a duplex gear, wherein one gear of the duplex gear is in mesh with thesecondary transmission gear 422, and the other gear of the duplex gear is received in theslots 451 and is in mesh with theslots 451, defined on the inner wall of thesecond receiving hole 45a, as such, the other gear of the duplex gear is received in thesecond receiving hole 45a. Such that the tertiaryoutput rotary disc 45 is connected to the drivengear 43. Nevertheless, in addition to the above connection fashions, the drivengear 43 and the tertiaryoutput rotary disc 45 may also be connected in other fashions. For example, the drivengear 43 and the tertiaryoutput rotary disc 45 are disposed on each other via welding, snap-fitting, screwing or the like. - In some embodiments, the
reducer 23 is a harmonic reducer. - It should be noted that the
reducer 23 is not limited to the above described reducers, and may also be reducers of other types, which are not exhaustively described hereinafter. - It should be noted that the specific appearance and structure of the actuator 20 may be adaptively adjusted based on the specific application environment of the actuator 20. For example:
- As illustrated in
FIG. 15 , the actuator 20 is a waist swinging actuator, and is applied to a waist joint of a robot to perform a waist swinging action. Thereducer 23 of the actuator 20 may employ a harmonic reducer. A conic portion 251a and afirst fixing portion 251b may be extended on theshell 251 of the actuator 20; wherein thefirst fixing portion 251b defines a plurality of fixing holes (not illustrated in the drawings), and the conic portion 251a and thefirst fixing portion 251b are both disposed on other parts of the robot. - As illustrated in
FIG. 16 , the actuator 20 is a head lifting actuator, and is applied to a head joint of a robot to perform a head lifting action. Thereducer 23 of the actuator 20 may employ a planetary reducer. The outer profile of the actuator 20 is large at two ends but small in the middle. Themotor driver 24 may be formed by two circuit boards, afirst circuit board 24a and asecond circuit board 24b; wherein the first circuit board is disposed on theshell 251, and the second circuit board is disposed on a surface of thetop cover 253 distal from theshell 251. Asecond fixing portion 251c is further disposed on an outer side wall of theshell 251, wherein thesecond fixing portion 251c is configured to be disposed on the other part of the robot. - As illustrated in
FIG. 17 andFIG. 18 , the actuator 20 is a head turning actuator, and is applied to a head joint of a robot to perform a head turning action. Thereducer 23 of the actuator 20 may employ a planetary reducer. The outer profile of the actuator 20 is large at two ends but small in the middle. Themotor driver 24 may be formed by two circuit boards, athird circuit board 24c and afourth circuit board 24d; wherein thethird circuit board 24c is disposed between theshell 251 and therear cover 252, and thefourth circuit board 24d is disposed on a surface of therear cover 252 distal from theshell 251. Thereducer 23 of the actuator 20 may be further provided with athird fixing portion 251d; wherein thethird fixing portion 251d defines a fixing groove (not illustrated in the drawings). A fixing through hole (not illustrated in the drawings) is defined on a side wall of the fixing groove. - As illustrated in
FIG. 19 andFIG. 20 , the actuator 20 is an arm actuator, and is applied to an arm joint of a robot to perform an arm lifting and lowering action. Thereducer 23 of the actuator 20 may be a planetary reducer. The actuator 20 further includes anoutput portion 20a; wherein theoutput portion 20a is connected to thereducer 23. An arc groove (not illustrated in the drawings) is defined on a surface of theoutput portion 20a distal from thereducer 23. Afourth fixing portion 253e is disposed on a surface of therear cover 253 distal from theshell 251. - As illustrated in
FIG. 21 , the actuator 20 is an elbow actuator, and is applied to an elbow joint of a robot to perform an elbow turning action. Thereducer 23 of the actuator 20 may be a planetary reducer. Afifth fixing portion 251f is disposed on an outer wall of theshell 251 of the actuator 20; wherein thefifth fixing portion 251f defines a fixing gap (not illustrated in the drawings). Themotor driver 24 may be formed by two circuit boards, afifth circuit board 24e and asixth circuit board 24f; wherein thefifth circuit board 24e is disposed on theshell 251, and thesixth circuit board 24f is disposed on a surface of thetop cover 253 distal from theshell 251. - In the embodiments of the present disclosure, the actuator 20 includes a
motor 21, aposition encoder 22, areducer 23, amotor driver 24, ahousing 25 and atransmission mechanism 26. Themotor 21 includes amotor stator 212 and a motor rotor 213, wherein themotor stator 211 is disposed on thehousing 25, and themotor rotor 211 is rotatably connected to thehousing 25 and covers themotor stator 212. In this way, the motor rotor 213 is disposed outside, which is favorable to reduction of the length of themotor 21 in an axial direction and practice of a flat design of themotor 21. Themotor driver 24 is disposed on thehousing 25, and is electrically connected to themotor 21. Theposition encoder 22 is disposed on themotor rotor 211. Thereducer 23 and themotor 21 are parallelly disposed, and transmission therebetween is practiced via thetransmission mechanism 26. In this way, the height of the actuator 20 is further reduced, such that the actuator 20 is flatter. Therefore, integral design of the actuator 20 is practiced, and the actuator 20 has a compact structure, a small volume, a great torque density, a great output torque, and a moderate speed. In addition, the actuator 20 is simply installed and easily controlled, has a high control precision, and may intelligently sense a load under cooperation of the encoder and force sensing and relieve collisions. - The beneficial effects of the present disclosure are described hereinafter again for better understanding of the present disclosure by readers.
- (1) Flexible control is practiced by a collimated drive flexible rotary actuator 20 plus a low reduction ratio coaxial reducer, and therefore the cost is low.
- (2) The
motor driver 24, theposition encoder 22, themotor 21 and thereducer 23 are integrated. Therefore, the entire volume is small, the installation and use are convenient. The actuator 20 is applicable to scenarios where higher and stricter requirements are imposed on space. - (3) The flexible mechanism may improve adaptability of the robot to the environment and broaden the application fields of the robot. By measuring a deformation amount of the flexible mechanism, a real-time torque may be obtained, such that advanced control algorithms such as flexible control and the like may be practiced, and the conventional robot joints, the rotary stations, rotary cylinder, step motor, servo motor and direct drive motor and the like rotation actuator mechanisms of the automated equipment may be better replaced.
- (4) The
motor rotor 211 is disposed outside, and thus has a great magnetic torque radius. Therefore, a high torque density is achieved. The flat design is suitable for a hollow shaft, and for a greater outer diameter, a larger codewheel. In this way, theposition encoder 22 has a higher resolution, and themotor 21 has a stronger overload capability. - (5) The actuator 20 according to the present disclosure may share a bus bar with other actuators 20, such that energy generated by one actuator 20 may be recycled to the other actuators 20 for utilization.
- (6) According to the present disclosure, the
motor 21, themotor driver 24 and theposition encoder 22 are all integrated inside thehousing 25. Thehousing 25 is a metal housing. The metal housing may form an electromagnetic shielding layer, such that external electromagnetic interference is not introduced and internal electromagnetic interference is not discharged. Therefore, the actuator 20 has a strong anti-interference capability, and causes no interference to external electronic devices. - (7) The actuator 20 according to the present disclosure has a strong impact resistance. Therefore, the life time of the fragile transmission part is prolonged, the heavy designs thereof are reduced, complexity of the dynamic calculation is lowered, physical torsion spring, rigid regulation mechanism and power/torque sensor are not desired, and high bandwidth force control in case of no contact force feedback.
- (8) The motor according to the present disclosure employs a flat design, and thus has a strong anti-axial and radial torsion.
- (9) The actuator 20 according to the present disclosure has a high precision and speed.
- An embodiment of the present disclosure further provides a robot arm. The robot arm includes the above described actuator 20. With respect to the specific structure and functions of the actuator 20, reference may be made to the above embodiments, which are thus not exhaustively described herein any further.
- An embodiment of the present disclosure further provides a robot. The robot includes the above described robot arm. With respect to the specific structure and functions of the robot arm, reference may be made to the above embodiments, which are thus not exhaustively described herein any further.
- It should be finally noted that the above-described embodiments are merely for illustration of the present disclosure, but are not intended to limit the present disclosure. Although the present disclosure is described in detail with reference to these embodiments, a person skilled in the art may also make various modifications to the technical solutions disclosed in the embodiments, or make equivalent replacements to a part of or all technical features contained therein. Such modifications or replacement, made without departing from the principles of the present disclosure, shall fall within the scope defined by the claims and the specification of the present disclosure. Especially, various technical features mentioned in various embodiments may be combined in any fashion as long as there is no structural conflict. The present disclosure is not limited to the specific embodiments described herein in this specification, but also includes all the technical solutions falling within the scope subjected to the appended claims.
Claims (15)
- An actuator (20), comprising:a housing (25);a motor (21), comprising a motor stator (212) and a motor rotor (213), wherein the motor stator (212) is disposed on the housing (25), the motor rotor (213) is rotatably connected to the housing (25), and the motor rotor (213) covers the motor stator (212);a position encoder (22), disposed on the motor rotor (213);a motor driver (24), disposed on the housing (25), and electrically connected to the motor (21);a reducer (23), disposed on the housing (25), and parallelly disposed with the motor (21); anda transmission mechanism (26), connected to the motor rotor (213) and the reducer respectively; whereinthe reducer (23) is configured to adjust a rotation speed output from the motor rotor (213).
- The actuator according to claim 1, wherein
the transmission mechanism (26) comprises a first synchronization wheel (261), a second synchronization wheel (262) and a synchronization belt (263);
wherein the first synchronization wheel (261) is connected to the motor rotor (213), the second synchronization wheel (262) is connected to the reducer (23), and the synchronization belt (263) is sleeved between the first synchronization wheel (261) and the second synchronization wheel (262). - The actuator according to claim 1, wherein
the housing (25) comprises a shell (251), a rear cover (252) and a top cover (253);
wherein the shell (251) defines a motor slot (251g) and an adjustment groove (2511), the motor slot (251g) comprising a rotation groove (2512) and a drive groove (2513); wherein the motor stator (212) and the motor rotor (213) are both disposed in the rotation groove (2512), the motor driver (24) is disposed in the drive groove (2513), and the rear cover (252) is disposed at the mouth of the drive groove (2513) and configured to close the drive groove (2513); and
wherein the top cover (253) is disposed to cover the rotation groove (2512) and the adjustment groove (2511), and wherein the top cover (253) further defines a transmission groove (2531), the transmission groove (2531) being configured to receive the transmission mechanism (26). - The actuator according to any one of claims 1 to 3, wherein
the reducer (23) comprises a primary inner ring gear (231), a primary sun gear (232), a primary planetary gear (233) and a primary output rotary disc (234); wherein the primary planetary gear (233) is disposed on a surface of the primary output rotary disc (234) and is rotatable relative to the primary output rotary disc (234), wherein the primary sun gear (232) and the primary planetary gear (233) are disposed to surround the primary inner ring gear (231), the primary planetary gear (233) is in mesh with the primary sun gear (232) and the primary inner ring gear (231) respectively, and a primary drive shaft (232a) is extended on the primary sun gear (232), wherein the primary drive shaft (232a) is connected to the transmission mechanism (26). - The actuator according to claim 4, wherein
the reducer (23) further comprises a first hollow annular member (235) and a second hollow annular member (236);
wherein the first hollow annular member (235) is disposed on the primary inner ring gear (231), the second hollow annular member (236) is disposed on the first hollow annular member (235), and the first hollow annular member (235) and the second hollow annular member (236) both surround the primary output rotary disc (234). - The actuator according to claim 5, wherein the reducer (23) further comprises a plurality of first balls (237); wherein
a first annular groove (236a) is defined on an inner wall of the second hollow annular member (236), a second annular groove (234a) is defined on an outer wall of the primary output rotary disc (234); wherein the first annular groove (236a) and the second annular groove (234a) cooperate with each other to form a first annular passage, wherein the first balls (237) are received in the first annular passage and are rotatable in the first annular passage. - The actuator according to claim 6, wherein
the first annular passage has a rhombic cross section, and the first balls (237) are in contact with four points on an inner surface of the first annular passage. - The actuator according to claim 5, wherein
the reducer (23) comprises a secondary inner ring gear (238), a secondary sun gear (239), a secondary planetary gear (240) and a secondary output rotary disc (901);
wherein the primary drive shaft (232a) of the primary sun gear (232) is disposed on one surface of the second output rotary disc (901), the second planetary gear (240) is disposed on the other surface of the secondary output rotary disc (901) and is rotatable relative to the secondary output rotary disc (901), wherein the secondary sun gear (239) and the secondary planetary gear (240) are disposed in the secondary inner ring gear (238), the secondary planetary gear (240) is in mesh with the secondary sun gear (239) and the secondary inner ring gear (238) respectively, and a secondary drive shaft is extended on the secondary sun gear (239), wherein the secondary drive shaft is connected to the transmission mechanism (26). - The actuator according to claim 8, wherein
the reducer (23) further comprises a third hollow annular member (902);
wherein the third hollow annular member (902) is disposed on the secondary inner ring gear (238) and is disposed between the secondary inner ring gear (238) and the primary inner ring gear (231), and the third hollow annular member (902) surrounds the secondary output rotary disc (901). - The actuator according to claim 9, wherein
the reducer (23) further comprises a plurality of second balls (903); wherein
a third annular groove (902a) is defined on an inner wall of the third hollow annular member (902), a fourth annular groove (901a) is defined on an outer wall of the secondary output rotary disc (901); wherein the third annular groove (902a) and the fourth annular groove (901a) cooperate with each other to form a second annular passage, wherein the second balls (903) are received in the second annular passage and rotatable in the second annular passage. - The actuator according to claim 10, wherein
the second annular passage has a rhombic cross section, and the second balls (903) are in contact with four points on an inner surface of the second annular passage. - The actuator according to any one of claims 1 to 3, wherein
the reducer (23) comprises a drive gear (41), a duplex transmission gear (42), a driven gear (43), a base (44) and a tertiary output rotary disc (45);
wherein a first receiving hole (441) is defined on one surface of the base (44), the drive gear (41) is received in the first receiving hole (441) and is rotatable relative to the first receiving hole (441), the duplex transmission gear (42) and the driven gear (43) are both disposed on the other surface of the base (44) and are rotatable relative to the base (44), the duplex transmission gear (42) comprises a first transmission gear (421) and a second transmission gear (422)that are coaxially fixed, wherein the first transmission gear (421) is in mesh with the drive gear (41), the second transmission gear (422) is in mesh with the driven gear (43), the driven gear (43) is connected to the tertiary output rotary disc (45) and is configured to drive the tertiary output rotary disc (45) to rotate, and the drive gear (41) is connected to the transmission mechanism (26). - The actuator according to claim 12, wherein
a second receiving hole (45a) is defined on one surface of the tertiary output rotary disc (45), a plurality of slots (451) is defined on an inner wall of the second receiving hole (45a), and the driven gear (43) is a duplex gear; wherein one gear of the duplex gear is in mesh with the second transmission gear (422), and the other gear of the duplex gear is received in the second receiving hole (45a) and is in mesh with the slots defined on the inner wall of the second receiving hole (45a). - A robot arm, comprising the actuator (20) as defined in any one of claims 1 to 13.
- A robot, comprising the robot arm as defined in claim 14.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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CN201810161540 | 2018-02-27 | ||
CN201910053538.1A CN109617313B (en) | 2018-02-27 | 2019-01-21 | Executor, arm and robot |
Publications (1)
Publication Number | Publication Date |
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EP3530413A1 true EP3530413A1 (en) | 2019-08-28 |
Family
ID=66020064
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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EP19159602.2A Active EP3530414B1 (en) | 2018-02-27 | 2019-02-27 | Actuator, robot arm and robot |
EP19159595.8A Withdrawn EP3530413A1 (en) | 2018-02-27 | 2019-02-27 | Actuator, robot arm and robot |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
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EP19159602.2A Active EP3530414B1 (en) | 2018-02-27 | 2019-02-27 | Actuator, robot arm and robot |
Country Status (5)
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US (2) | US11235477B2 (en) |
EP (2) | EP3530414B1 (en) |
JP (2) | JP7027656B2 (en) |
KR (2) | KR102188577B1 (en) |
CN (3) | CN109617312B (en) |
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- 2019-02-26 US US16/285,785 patent/US10889011B2/en active Active
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Also Published As
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CN109617312A (en) | 2019-04-12 |
EP3530414B1 (en) | 2023-11-29 |
US20190262989A1 (en) | 2019-08-29 |
KR102188577B1 (en) | 2020-12-08 |
CN109617313A (en) | 2019-04-12 |
CN209375362U (en) | 2019-09-10 |
KR102188578B1 (en) | 2020-12-08 |
CN109617312B (en) | 2024-02-27 |
JP7027656B2 (en) | 2022-03-02 |
US11235477B2 (en) | 2022-02-01 |
JP2019147243A (en) | 2019-09-05 |
KR20190103032A (en) | 2019-09-04 |
JP2019147242A (en) | 2019-09-05 |
EP3530414A1 (en) | 2019-08-28 |
US20190263007A1 (en) | 2019-08-29 |
CN109617313B (en) | 2021-01-08 |
JP7027655B2 (en) | 2022-03-02 |
US10889011B2 (en) | 2021-01-12 |
KR20190103046A (en) | 2019-09-04 |
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